200 citations · 353 across the 27 of their papers we have counts for
29 papers
Biased-MPPI: Informing Sampling-Based Model Predictive Control by Fusing Ancillary Controllers
Elia Trevisan, Javier Alonso-Mora
Motion planning for autonomous robots in dynamic environments poses numerous challenges due to uncertainties in the robot's dynamics and interaction with other agents. Sampling-bas…
Statistically Distinct Plans for Multi-Objective Task Assignment
Nils Wilde, Javier Alonso-Mora
We study the problem of finding statistically distinct plans for stochastic planning and task assignment problems such as online multi-robot pickup and delivery (MRPD) when facing…
Designing Heterogeneous Robot Fleets for Task Allocation and Sequencing
Nils Wilde, Javier Alonso-Mora
We study the problem of selecting a fleet of robots to service spatially distributed tasks with diverse requirements within time-windows. The problem of allocating tasks to a fleet…
Scalarizing Multi-Objective Robot Planning Problems using Weighted Maximization
Nils Wilde, Stephen L. Smith, Javier Alonso-Mora
When designing a motion planner for autonomous robots there are usually multiple objectives to be considered. However, a cost function that yields the desired trade-off between obj…
Multi-Modal MPPI and Active Inference for Reactive Task and Motion Planning
Yuezhe Zhang, Corrado Pezzato, Elia Trevisan +3
Task and Motion Planning (TAMP) has made strides in complex manipulation tasks, yet the execution robustness of the planned solutions remains overlooked. In this work, we propose a…
Multi-Robot Local Motion Planning Using Dynamic Optimization Fabrics
Saray Bakker, Luzia Knoedler, Max Spahn +2
In this paper, we address the problem of real-time motion planning for multiple robotic manipulators that operate in close proximity. We build upon the concept of dynamic fabrics a…
Optimizing Task Waiting Times in Dynamic Vehicle Routing
Alexander Botros, Barry Gilhuly, Nils Wilde +3
We study the problem of deploying a fleet of mobile robots to service tasks that arrive stochastically over time and at random locations in an environment. This is known as the Dyn…
Autotuning Symbolic Optimization Fabrics for Trajectory Generation
Max Spahn, Javier Alonso-Mora
In this paper, we present an automated parameter optimization method for trajectory generation. We formulate parameter optimization as a constrained optimization problem that can b…
Multi-Agent Path Integral Control for Interaction-Aware Motion Planning in Urban Canals
Lucas Streichenberg, Elia Trevisan, Jen Jen Chung +2
Autonomous vehicles that operate in urban environments shall comply with existing rules and reason about the interactions with other decision-making agents. In this paper, we intro…
Local Planner Bench: Benchmarking for Local Motion Planning
Max Spahn, Chadi Salmi, Javier Alonso-Mora
Local motion planning is a heavily researched topic in the field of robotics with many promising algorithms being published every year. However, it is difficult and time-consuming…
Error-Bounded Approximation of Pareto Fronts in Robot Planning Problems
Alexander Botros, Armin Sadeghi, Nils Wilde +2
Many problems in robotics seek to simultaneously optimize several competing objectives under constraints. A conventional approach to solving such multi-objective optimization probl…
Multi-robot Task Assignment for Aerial Tracking with Viewpoint Constraints
Aaron Ray, Alyssa Pierson, Hai Zhu +2
We address the problem of assigning a team of drones to autonomously capture a set desired shots of a dynamic target in the presence of obstacles. We present a two-stage planning p…
Dynamic Optimization Fabrics for Motion Generation
Max Spahn, Martijn Wisse, Javier Alonso-Mora
Optimization fabrics are a geometric approach to real-time local motion generation, where motions are designed by the composition of several differential equations that exhibit a d…
Improving Pedestrian Prediction Models with Self-Supervised Continual Learning
Luzia Knoedler, Chadi Salmi, Hai Zhu +2
Autonomous mobile robots require accurate human motion predictions to safely and efficiently navigate among pedestrians, whose behavior may adapt to environmental changes. This pap…
Regulations Aware Motion Planning for Autonomous Surface Vessels in Urban Canals
Jitske de Vries, Elia Trevisan, Jules van der Toorn +3
In unstructured urban canals, regulation-aware interactions with other vessels are essential for collision avoidance and social compliance. In this paper, we propose a regulations…
Continuous Occupancy Mapping in Dynamic Environments Using Particles
Gang Chen, Wei Dong, Peng Peng +2
Particle-based dynamic occupancy maps were proposed in recent years to model the obstacles in dynamic environments. Current particle-based maps describe the occupancy status in dis…
Decentralized Probabilistic Multi-Robot Collision Avoidance Using Buffered Uncertainty-Aware Voronoi Cells
Hai Zhu, Bruno Brito, Javier Alonso-Mora
In this paper, we present a decentralized and communication-free collision avoidance approach for multi-robot systems that accounts for both robot localization and sensing uncertai…
Integrated Task Assignment and Path Planning for Capacitated Multi-Agent Pickup and Delivery
Zhe Chen, Javier Alonso-Mora, Xiaoshan Bai +2
Multi-agent Pickup and Delivery (MAPD) is a challenging industrial problem where a team of robots is tasked with transporting a set of tasks, each from an initial location and each…
Learning Interaction-aware Guidance Policies for Motion Planning in Dense Traffic Scenarios
Bruno Brito, Achin Agarwal, Javier Alonso-Mora
Autonomous navigation in dense traffic scenarios remains challenging for autonomous vehicles (AVs) because the intentions of other drivers are not directly observable and AVs have…
Scenario-Based Trajectory Optimization in Uncertain Dynamic Environments
O. de Groot, B. Brito, L. Ferranti +2
We present an optimization-based method to plan the motion of an autonomous robot under the uncertainties associated with dynamic obstacles, such as humans. Our method bounds the m…
Online Informative Path Planning for Active Information Gathering of a 3D Surface
Hai Zhu, Jen Jen Chung, Nicholas R. J. Lawrance +2
This paper presents an online informative path planning approach for active information gathering on three-dimensional surfaces using aerial robots. Most existing works on surface…
Where to go next: Learning a Subgoal Recommendation Policy for Navigation Among Pedestrians
Bruno Brito, Michael Everett, Jonathan P. How +1
Robotic navigation in environments shared with other robots or humans remains challenging because the intentions of the surrounding agents are not directly observable and the envir…
Learning Interaction-Aware Trajectory Predictions for Decentralized Multi-Robot Motion Planning in Dynamic Environments
Hai Zhu, Francisco Martinez Claramunt, Bruno Brito +1
This paper presents a data-driven decentralized trajectory optimization approach for multi-robot motion planning in dynamic environments. When navigating in a shared space, each ro…
Social-VRNN: One-Shot Multi-modal Trajectory Prediction for Interacting Pedestrians
Bruno Brito, Hai Zhu, Wei Pan +1
Prediction of human motions is key for safe navigation of autonomous robots among humans. In cluttered environments, several motion hypotheses may exist for a pedestrian, due to it…